Medical devices using electrosensitive gels

ABSTRACT

An intelligent material unit formed of an intelligent gel encapsulated within an enclosure. When the gel is actuated by a change in temperature thereof, such as heat and/or by an externally applied field such as an electrical current, electric field, magnetic field, ultrasonic energy (or sonic), microwave energy, a laser beam or a combination thereof, at least a portion of the wall of the container or enclosure is deformed to perform a mechanical function or operation; such as to valve a fluid or cause movement of the container and gel through a fluid or in a passageway. The container may be a thin-skinned flexible plastic, such as an elastomer and may be elongated or sausage-like in shape, or strip-like. It may be free travelling, cantilever-supported or otherwise mounted or attached to a device, machine or element. It may also carry a drug for delivery therefrom at a select location and time. A system apparatus and method is also disclosed for delivering a quantity of a drug, tissue, cells, genetic material, sensor, implant or implant material, repair material, diagnostic material, protein, hormone or the like or a combination thereof to a select location in the body, such as in an artery, vein, or a portion of the digestive tract.

This application is a division of Ser. No. 09/039,667, filed Mar. 16,1998, now U.S. Pat. No. 6,090,139 which is a division of Ser. No.08/662,345 filed Jun. 12, 1996 now U.S. Pat. No. 5,800,421.

FIELD OF THE INVENTION

This invention relates to medical devices, including drug deliverysystems, catheters, and heart valves, that use electrosensitive gels(“electro-gels”) to provide real time electrical control of the motionand/or physical properties of key portions of the devices. Computercontrol methods for optimizing the performance of such devices are alsodisclosed and claimed.

BACKGROUND OF THE INVENTION

Two basic types of electrosensitive gel materials exist. The first typeincludes certain gelled copolymers which, when placed in aqueoussolution, undergo reversible contraction or expansion in response tovery small changes in pH. Typically, the pH changes are induced by theapplication of electrical potential differences to the solution, thusproducing an electrically controllable response. The response actuallytakes the form of a change in volume of the expandable copolymerresulting from uptake of the solution at high pH levels, or release ofthe solution at low pH levels. Thus, the response is said to be linearand homogenous in the sense that, for example, a long cylindrical pieceof gel would undergo the same amount of relative percentage change inlength and diameter. Percentage changes of more than 400% have beenobserved. Expandable copolymer gels of this type are described in U.S.Pat. No. 5,100,933 (Tanaka, et al); in U.S. Pat. No. 5,250,167 (Adolf,et al); and in U.S. Pat. No. 5,389,222 (Shahinpoor, et al), thedisclosures of which are incorporated by reference herein.

Expandable copolymer gels of these types may comprise three dimensionalnetworks consisting of polyacrylic acid that can be obtained by heatinga foil of polyacrylic acid containing a polyvalent alcohol such asglycerol or polyvinyl alcohol. The resulting three dimensional networkis insoluble in water, but swells in response to high pH and contractsin response to low pH. Electric fields in the range of a few volts percentimeter suffice to stimulate that response.

Thus, for example, U.S. Pat. No. 5,250,167 (Adolf, et al) discloses avariety of mechanisms based on encapsulated polyelectrolyte polymericgels in aqueous electrolytic solutions, which undergo reversibleexpansion and contraction in response to electric fields in the range ofa few volts per centimeter as a result of changing the pH of thesolution. Adolf discloses that filaments of copolymer gel may beproposed for most applications. The specific machines he describes anddepicts in FIGS. 1 through 6 are quite simple and are constrained by theneed to immerse the copolymer fibers in an aqueous electrolyte solution,which must not be allowed to leak away. Fundamentally, his machines relyupon simple linear contraction. A critical point is that, while both ananode and a cathode are required, the fibers ordinarily should beconnected to only one of the two electrodes, leaving a gap 26 shown inFIGS. 1 and 2. According to Adolf, if the gap is omitted and oppositeends of the copolymer gel fibers are connected to electrodes of oppositepolarity, the result would be expansion near one electrode andcontraction near the other, with little or no net change in length.

Fundamentally, Adolf discloses only simple push-pull mechanisms (FIGS.1-2), bending mechanisms (FIGS. 3-4), and an oscillator (FIG. 6).(Adolf's FIG. 5 is a push-pull mechanism in which the electrodes thatchange pH of the solution are physically separated from the copolymergel; the gel responds to pumping of high or low pH solution into itscontainer.)

Other investigators have suggested bendable structures as shown in FIG.3 of U.S. Pat. No. 5,389,222 (Shahinpoor, et al), in which one side of asheet of expandable copolymer gel is made to expand, while the otherside is made to contract in response to an electrical field appliedacross the section of the sheet. (This, or course, takes advantage ofthe effect of eliminating the gap mentioned in FIGS. 1-2 of the Adolf'167 patent). Shahinpoor also discloses a sphincter-like device (FIG. 4)which closes in response to the application of an electrical field. Healso mentions a spring-loaded device (FIG. 5) in which an oscillatingrotary motion is produced by contraction of a gel element.

The second type of electrosensitive gel involves both a differentelectrochemical mechanism and different mechanical results. Such gelsare variously termed electrorheological gels or ER gels or fluids, thatexhibit a phenomenon called the Winslow effect. These ER gel or fluidmaterials typically comprise a dielectric fluid in which is dispersed aplurality of microscopic electrorheologically sensitive particles.Application of an electrical field to such a composite material altersthe pattern of electrical charge distribution on the surface of theelectrorheological particles, causing them to be attracted to each otherand to become aligned in a regular fashion, effectively forming chainsof microscopic fibers between the electrodes. The electrorheologicalparticles may include silica, starch, carboxy-modified polyacrylamides,and similar materials which will function only in the presence of somewater. Other materials such as organic semiconductors, includingsilicone ionomers, are said to be capable of functioning without water.See, for example, U.S. Pat. No. 4,772,407 (Carlson); U.S. Pat. No.5,032,307 (Carlson); U.S. Pat. No. 5,252,249 (Kurachi, et al); U.S. Pat.No. 5,252,250 (Endo, et al) ; and U.S. Pat. No. 5,412,006 (Fisher, etal), the disclosures of which are incorporated by reference herein.

In either case, the salient characteristic of ER gels is that theapplication of a voltage difference results in a macroscopic change fromliquid-like behavior to essentially solid behavior. That is, the ERfluids or gels change from behaving as Newtonian fluids, which deformcontinuously and without limit in response to the application of anystress (force) at all, to Bingham plastic fluids, which will not deformat all until some threshold level of yield stress (force) is applied.The storage modulus G′ and the loss modulus G″ also change dramaticallyin response to application of voltage gradients to these materials.(These moduli relate to the ability of the material to damp energy.)Electrical current flows are said to be low, and response times are ofthe order of milliseconds.

ER gels are used in automotive transmissions, clutches, vibrationdampeners, and brakes. One investigator suggests using such gels as basematerials for the ink used in ink jet printers. See U.S. Pat. No.5,326,489 (Asako, et al). In addition, U.S. Pat. No. 5,213,713 (Reitz)proposes a variety of simple shapes comprising various beams, angles,and the like which include one or more portions made of ER gel. Bytemporarily applying an electrical potential to the electrorheologicalsolid portion of such items, their shape can be changed by mechanicallybending the item and then removing the electrical field, whereupon theelectrorheological solid portion “freezes” into the new shape. Notably,however, most ER gels exhibit behavior opposite to that described byReitz: that is, usually the application of an electrical field to an ERfluid or gel results in solidification, not liquefaction.

Among the drawbacks of the prior art in the area of expandable copolymergels are the comparatively slow response times and the need forimmersion in water. And although ER gels have rapid response times, theyare not suited for direct creation of motion.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a drug delivery system in which an aliquot of drug iscontained within a permeable membrane, along with an expandablecopolymer gel.

FIG. 2 shows a self-propelled drug delivery system in which anexpandable copolymer gel actuates a swimming motion in response topulsed applications of an electrical field.

FIG. 3 illustrates a catheter tip in which an expandable copolymer gelis used to expel a measured aliquot of drug.

FIG. 4 shows a catheter having variable rigidity, based on incorporationof an ER gel.

FIG. 5 shows another view of a catheter having variable rigidity,independently controllable at various portions along its length.

FIG. 6 shows a cross-section of the catheter of FIG. 4.

FIG. 7 shows a catheter fitted with devices for prevention of occlusionof intake holes.

FIG. 8 illustrates an endoscopic device for removal of plaque from bloodvessels utilizing an expandable copolymer gel drive mechanism.

FIG. 9 illustrates a balloon catheter having a shape controlled byexpandable copolymer gel, based on dynamic measurements of circulatorysystem parameters.

FIG. 10 illustrates an artificial heart valve utilizing an expandablecopolymer gel under real time computer control.

FIG. 11 illustrates an artificial heart valve utilizing an ER gel underreal time computer control.

SUMMARY OF THE INVENTION

My invention provides a group of novel medical devices utilizing thespecial properties of expandable copolymer gels and ER gels in order toperform such functions as controlled drug delivery; vascular access;arterial plaque removal; and control of blood flow in the heart. Inappropriate situations, real time computer control can be used tooptimize performance of such devices. Imaging techniques usingx-radiation or other forms of imaging energy can be used as sensors toassist in the control of such devices.

Accordingly, it is an object of this invention to provide a variety ofapproved medical devices.

It is another object of this invention to provide certain medicaldevices that can advantageously be controlled in real time usingcomputer imaging technology.

It is a further object of this invention to provide machines usingexpandable copolymer gels that exhibit dramatically improved responsetimes compared to prior art devices.

These and other features, objects and advantages of my invention will beapparent upon consideration of the following detailed description of theinvention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to FIG. 1, a simple drug delivery system powered byexpandable copolymer gel comprises a permeable membrane 1 which enclosesa layer of expandable copolymer gel 2. Inside the layer of expandablecopolymer gel is a thin, flexible sack 3 which contains a dose of a drug4. (The term “drug” is used herein to include any medicine, narcotic,biologically active material, or fluid that may be injected into abody.) First electrode means 5 attached to the expandable copolymer gel2 is used to supply the voltage required for actuation. Second electrodemeans 6 may be positioned in convenient proximity within the body toprovide the other half of the actuating circuit.

The device is fabricated in a sterile aqueous environment, to maintainthe gel in its swelled state. A membrane permeable to water is used toenclose the gel, and to provide the continuous contact with water whichis required for operation. The device must be kept in water until used.At a desired time after the device has been positioned at an appropriatelocation within the body, for example, in a blood vessel or other bodyduct, the drug is discharged from the device as follows. An electricalpotential in the neighborhood of two to three volts is applied betweenthe first and second electrode means for a sufficient time to inducerupture of the sack 3. As the expandable copolymer gel continues tocontract, the drug 4 escapes from the ruptured sack and is forced outinto the body through the permeable membrane. In the preferredembodiment shown in FIG. 1, the expandable copolymer gel is transpiercedby one or more passages 7 which provide a direct pathway for the drug tothe exterior of the permeable membrane, thus preventing mixing of thedrug with the expandable copolymer gel. Optionally, the permeablemembrane surrounding the expandable copolymer gel may itself be enclosedwithin an impermeable, flexible container 1A, which encloses not onlythe permeable membrane 1 and the gel 2, but also a sealed electrolytesolution 1B in which the gel can operate without exchanging liquid withthe surrounding body fluids.

In a further embodiment, the applied voltage is controlled based on apredetermined dosage versus time regime. That is, since a particularvoltage corresponds to a known amount of contraction, calibrated amountsof the initial aliquot of drug are expelled as a particular voltagelevel is reached. By gradually increasing the voltage, any desired doseversus time response can be obtained.

In still another embodiment of the invention, one or more biologicalparameters (for example, blood pressure, blood sugar level, blood oxygencontent, concentration of drug in the blood stream, etc.) arecontinuously monitored during operation of the drug delivery device.Feedback control is used to regulate the amount of drug delivered, so asto hold the measured biological parameter within predetermined limits.

The embodiment of FIG. 2 is a self-propelled drug delivery system whichmakes use of the expansion and contraction of expandable copolymer gelsto move an aliquot of drug through a blood vessel or other body duct toa specific location before delivery of the drug. The device comprises apropulsion container 8 divided into at least two compartments by aflexible septum 9. The container 8 may preferably be of generallycylindrical shape, as shown in the figure. First compartment 10 of thepropulsion container may be filled with a flexible, inert material suchas a non-electrosensitive silicone gel. Second compartment 11 of thepropulsion container is enclosed by permeable membrane 12 and is filledwith an expandable copolymer gel. The alternate application and removalof an electric potential between first propulsion electrode means 13 andsecond propulsion electrode means 14 results in cyclic expansion andcontraction of the expandable copolymer, which causes flexing of thepropulsion container 8. The result is that propulsion container 8“swims” through the body duct like a snake, until a desired location hasbeen reached. Advantageously, a radio opaque substance may be includedin second compartment 11, to enable observation of the location of thedevice during operation, and control of its position.

When the device has reached the desired location (or at any time duringits journey to that location), a drug delivery container 15 is operatedto deliver the drug. The structure and operation of drug deliverycontainer 15 is substantially as described above, in connection with thedevice shown in FIG. 1.

Referring now to FIG. 3, a catheter tip 16 is shown containing areservoir 17 of drug or other biologically active material. The drug iscontained within a sack 18, which in turn is surrounded by a ring orannulus 19 of expandable copolymer. When the catheter tip has beenadvanced to the desired location within a blood vessel or other bodyduct, a voltage is applied between first electrode means 19 and secondelectrode means 20, causing the expandable copolymer to contract andexpelling the drug through one or more orifices 21 at the tip of thecatheter. Again, the feedback computer control techniques mentionedabove can be used to control the rate and quantity of drug delivery.

A common difficulty encountered in the use of in-dwelling catheterswhich must remain in the body for weeks or months at a time is abrasionof blood vessel walls and resulting infection, lysis of blood cells, andclot formation. Hard, rigid catheter walls contribute substantially tothese problems.

Rigid wall and tip portions of catheters are desirable, however, duringimplantation procedures. For example, acute hemodialysis catheters areoften fabricated of plastic materials which are sufficiently stiff toenable percutaneous insertion without the requirement of making asurgical cutdown to the vein. Such rigidity and stiffness makesimplantation much simpler, but becomes a liability after implantation.

FIG. 4 shows a catheter that is especially suitable for hemodialysis,chronic drug infusion or other long-term use in which the catheterremains in the body for a long period of time after implantation. Thestiffness of the catheter is electrically controlled using an ER gel,allowing it to be very stiff when implanted and very flexiblethereafter. Referring to the cross-sectional drawing of FIG. 6, thecatheter uses an elongated, hollow wall filled with ER gel. In thespecific embodiment shown, outer wall 22 of the catheter encloses acomparatively thin annular layer 23 of ER gel, sandwiched between outerwall 22 and inner wall 24. The interior of the catheter may include oneor more lumens 25, 26 which may be separated from each other by a flatseptum 27, as would be the case for the chronic hemodialysis catheters.It will be understood that the catheter shown and described isapplicable not only to chronic hemodialysis but also to other operationsinvolving insertion of catheters into cavities in the body.

The overall configuration of the catheter employing this inventionappears in FIG. 5. During implantation of the catheter, an electricalpotential is applied between first electrode means 28 and secondelectrode means 29, causing the ER gel in the annulus to become rigid.This facilitates percutaneous insertion of the catheter, without needfor surgical cutdown to the blood vessel 80. The rigidity of thecatheter can be controlled during implantation by varying the appliedvoltage, ensuring that a desired level of rigidity is maintainedthroughout the implantation procedure. Optionally, a plurality ofseparate sections or reservoirs 23A, 23B, etc. of ER gel along thelength of the catheter may be used, as shown is FIG. 5, with separatepairs of electrode means associated with each reservoir. The wiring 28A,29A associated with the electrode means may be embedded as foil in thecatheter wall, or may be run through an extra lumen 26A near theinterior wall, as shown in FIG. 6. By this means, the rigidity ofvarious portions of the catheter can be independently controlled byvarying the voltage applied to specific sections of the catheter asdesired. Preferably, the catheter wall may be fabricated comprisingsufficient radio opaque material to enable x-ray observation of itsposition.

In either embodiment, once the catheter has been implanted and properlypositioned, the electrical potential is removed, and the ER gelthereupon becomes liquid. This reduces the rigidity of the catheter toonly such stiffness as is provided by the catheter walls themselves. Forapplications such as chronic hemodialysis, silicone catheter walls arepreferable, but other suitable materials, as known to those skilled inthe art, may be employed as desired.

Another common difficulty encountered with both chronic and acutevascular access devices such as hemodialysis catheters is formation ofclots. Thrombogenesis may occur as a result of flow stagnation in deadspaces within the catheter or as a result of lysis of blood cellsinduced by excessive levels of shear in the blood flow pattern. Inaddition, clotting may occur at inlet or outlet apertures, especially ifan inlet aperture has been blocked or occluded by contact with thevessel wall, thereby restricting or stopping the blood flow altogether.

Referring now to FIG. 7, a hemodialysis-type catheter is shown thatutilizes expandable copolymer gel to discourage clot formation and tohelp dislodge clots which may form during operation. The embodiment ofFIG. 7 also shows a mechanism for preventing occlusion of intake holesby blood vessel walls. The exterior wall 30 of the catheter tubefeatures a plurality of holes 31, which serves as intake holes leadinginto the withdrawal lumen of the catheter. On either side of theplurality of intake holes 31, there is a toroidal reservoir 32 filledwith expandable copolymer gel and fitted with electrode means 33 and 34.In the event that clotting occurs at the intake holes, or blood flowdecreases or stops as a result of occlusion of the intake holes byresting against the vessel wall, an electrical potential is applied tothe toroidal reservoirs of expandable copolymer gel, causing them toswell and expand, thus pulling the intake holes away from the vesselwall and also dislodging any blood clots that may have begun to form.When normal operation has been restored, the voltage may be removed,leaving a highly flexible catheter in place.

In another version of this embodiment, a plurality of toroidalreservoirs of expandable copolymer gel may be provided along the lengthof the catheter or may be embedded at intervals within the exterior wallof the catheter. Sequential activation of these reservoirs of expandablecopolymer gel results in peristaltic contraction of the wall of thecatheter. This not only facilitates dislodging any blood clots which mayhave formed, it can also help to pump blood or other fluid, such as aviscous drug, through one or more lumens of the catheter. It would beapparent to those of ordinary skill, of course, that variousarrangements of reservoirs of expandable copolymer gel can be used,depending on the type of peristaltic motion which it is desired tocreate in the catheter.

Referring now to FIG. 8, there is shown an endoscopic device for theremoval of plaque from the walls of a blood vessel. An operationcurrently performed using complex mechanical devices which must bethreaded through vessels approaching the heart before operation. In myinvention, a catheter having walls of variable rigidity which areachieved using the system of FIGS. 4 through 6 are first advanced to thelocation within a major vessel from which plaque deposits are to beremoved. When that location is reached, the ER gel within reservoir 35near the working end 36 of the catheter is energized by electrode means37, to create a stiff, abrasive portion near the distal end of thecatheter. The abrasive portion is equipped with one or moreoutward-facing walls 38 having a highly abrasive texture. At theproximal end of the abrasive portion of the catheter, there is aproximal reservoir 41 filled with expandable copolymer gel, which isattached to the abrasive portion. That reservoir, in turn, is fittedwith paired electrode means 43, which enable alternate expansion andcontraction of the reservoir. There is a corresponding distal reservoir42 attached to the distal end of the abrasive portion, and having pairedelectrode means 44. Cyclic actuation of the proximal reservoir 41 andthe distal reservoir 42 by alternating application of voltage toelectrode means 43 and 44 produces a back and forth grinding motion ofthe abrasive, stiff section 37. This results in abrasion of plaque offof the vessel walls.

Optionally, radio opaque materials may be used in the abrasive portionto assist in visualization of the plaque removal operation using anx-ray.

A class of catheters known generally as “balloon catheters” is used fora variety of purposes within the body. In addition to plaque removal byexpansion within a blood vessel, balloon catheters also may be used torestrict or stop blood flow at various locations to enable differenttypes of surgical procedures to be conducted; to divert blood flow or tofacilitate the injection of drugs to desired locations.

FIG. 9 shows a balloon catheter 48 having a generally elongated shape inwhich the flexible wall 49 of the balloon 50 is stiffened with ribs 51that comprise reservoirs 52 containing expandable copolymer gel. Thesize of the balloon 50 may be expanded or contracted, and its shape maybe altered by selective application of electrical potentials to one ormore of the expandable copolymer gel-filled reservoirs. Optionally,radio opaque material may be incorporated into select locations in thewall of the balloon to facilitate x-ray visualization of its shape.Images formed thereby may be used to control the action of the balloonbased on real time calculations matching the desired size and/or shapehistory. Alternatively or in addition, one or more biological parameterssuch as blood pressure, blood flow rate, or other measured variables maybe used as control points for altering the shape or size of the balloon.

It is often necessary to place defective heart valves with various typesof prosthetic devices. Among those devices are ball-and-cage valveswhich are sewn onto the heart muscle; and heart valves grafted frompigs. The former types of mechanical devices have been subject tofailures associated with defective welds and similar quality controlproblems, whereas heart valves transplanted from animals may poserejection problems.

FIG. 10 illustrates a heart valve using an expandable copolymer gel. Thegel is contained in a pair of permeable membranes 55 and 54 that areformed into a toroidal shape; the membranes are contained within atoroidal-shape container 56. First membrane 55 is attached to the outerperiphery of the container, while second membrane 54 is attached to theinner periphery of the container, as shown in FIG. 10. The container, inturn, is attached by stitches or other attachment means to the heart atthe appropriate location. Periodic application of an electricalpotential between first pair of electrode means 60, 61 and second pairof electrode means 62, 63 causes the toroid's outer surface 64 to expandwhile the inner surface 65 contracts, and vice versa. That opens andcloses the valve. These functions can be controlled in real time byusing computer-controlled voltages based on a pacemaker controlling theexpansion and contraction of the heart muscles themselves, to coordinateopening and closing of the valves with expansion and contraction of theheart muscles.

It is known that response times for expansion and contraction ofexpandable copolymer gels are proportional to the linear dimensions ofexpandable copolymer gel elements, as noted in U.S. Pat. No. 5,100,933(Tanaka, et al.). For large gel elements, response times can beundesirably slow. But, only comparatively simple shapes such ascylinders have been suggested for expandable copolymer gel devices.

I find that the slow response times of expandable copolymer gel elementsresult in large part from mass transfer limitations; swelling andcontraction of the gel requires uptake and discharge of surroundingelectrolyte solutions through the exterior boundary of the gel. Thus, byproviding gel container shapes with extended surface areas, responsetimes can be dramatically improved, by providing increased surface areafor mass transfer. More specifically, instead of plain, cylindrical orflat gel shapes, the use of corrugations, perforations, fins and otherextended surface areas is preferred. Thus, as shown in FIG. 9, aplurality of holes or perforations 66 may be employed to providemore-rapid response times for a sphincter-type heart valve.

Another embodiment of a heart valve is shown in FIG. 11. This embodimentutilizes a plurality (preferably three to four) of flat, overlappingflaps 67 of roughly triangular shape, which are flexibly attached at oneof their edges 68 to a toroidal base 69, which defines an interioraperture through which blood flows. The base 69 may be made of Gore-Tex®or some other suitable material, and is designed to be sutured to theheart muscle. Each flap 67 contains an ER gel and is also fitted withelectrode means 70, 71. The flap material is sufficiently flexible toallow it to freely bend in response to blood flow through the valve.

In response to the application of an electrical potential acrosselectrode means 70 and 71, the ER gel contained in the flaps 67 becomesrigid. Response times for changes in properties of ER gels are veryrapid; of the order of milliseconds. Thus, the flaps 67 of the heartvalve of this embodiment can be “opened” and “closed” by alternatelyapplying a voltage to hold the flaps rigidly against the base, and“opened” by removing the voltage to allow the flaps to become flexibleand open in response to contraction of the chamber of the heart to whichthey are attached. As with the embodiment of FIG. 10, these functionscan be controlled in real time by using computer-controlled voltagesbased on a pacemaker controlling the expansion and contraction of theheart muscles themselves, to coordinate opening and closing of thevalves with expansion and contraction of the heart muscles.

It will be apparent to those of ordinary skill in the art that manychanges and modifications could be made while remaining within the scopeof my invention. I intend to cover all such equivalent processingmethods, and to limit my invention only as specifically delineated inthe following claims.

I claim:
 1. An endoscopic device for removal of plaque from bloodvessels, comprising an elongated catheter with a distal end portion anda proximal end portion; an abrasive portion near said distal endportion; a proximal reservoir filled with expandable copolymer geloperably attached to said abrasive portion; first electrode meansoperably attached to said expandable copolymer gel in said proximalreservoir; a distal reservoir filled with expandable copolymer geloperably attached to said abrasive portion; and second electrode meansoperably attached to said expandable copolymer gel in said proximalreservoir; enabling back-and-forth motion of said abrasive portion inresponse to alternating application of voltage to said first and secondelectrode means.
 2. The endoscopic device of claim 1, further comprisinga flexible, elongated, hollow wall of said device; an ER gel fillingsaid elongated hollow wall; and third electrode means operably connectedto said ER gel, to enable said device to be made rigid or flexible inresponse to a voltage applied to said third electrode means.